Can Watt's linkage be called a parallel mechanism with 1 DOF?

16 June 2022 1 5K Report

I think I can't understand the definition of 1 DOF parallel mechanism. Is a parallelogram linkage parallel mechanism with 1 DOF? What do you think?

Anton Antonov

I think we can call it parallel, regardless of the number of DOFs.

In a parallel mechanism, the output link is connected to the base by several (at least two) kinematic chains. In the case of the Watt's linkage (and in any other four-bar linkage shown above), we have two RR kinematic chains.

Moreover, if we consider the rocker instead of the coupler as an output link, we can still treat the mechanism as parallel with one RRR chain and one trivial R chain.

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